/*****************************************************************//**
 * \file   EndToolCamera.h
 * \brief  
 * 
 * \author Administrator
 * \date   July 2021
 * \modify by Administrator
 * \date   July 2021

 *********************************************************************/
#pragma once

#include "Eigen/Dense"
#include "../EndToolInterface.h"

class EndToolCamera :public EndToolInterface
{
public:
	bool bInitDone = false;
	Eigen::Matrix4d toolM;

public:

	EndToolCamera();
	~EndToolCamera();
	 
	int getEndToolType() override;
	Eigen::Matrix4d geToolEndMatrix(Eigen::Matrix4d robotend/*, Eigen::Vector3d RCM*/) override;
	Eigen::Matrix4d getRobotNextEnd(Eigen::Matrix4d robotend_current, Eigen::Matrix4d toolend_next, Eigen::Vector3d RCM) override;
};
